DE102004027314B4 - Avalanche spill detector and method for locating a transmitter - Google Patents

Abstract

The device (1) is swiveled within an angular range of search angles covering a search region and has search antennas for receiving transmitter signals radiated by the transmitter from instantaneous search directions, a signal processor for producing processing signals from the transmitter signals and an output unit. A magnetic field sensor outputs sensor signals related to the earth's magnetic field to the signal processor that are fed as processing signals to the output unit and associate each search direction with a fixed search angle relative to the earth's magnetic field. An independent claim is also included for a method of locating a transmitter, especially one buried in an avalanche.

Description

The The invention relates to a search device for locating a transmitter, in particular an avalanche victim search device, wherein to search a search area, the searcher by a user in one Angle range is pivoted, which covers the search area.

Avalanche spill detectors work with an unmodulated transmit signal at 457 kHz. All skiers in one Group switch their devices in normal mode to transmit mode. Becomes a Part of the group spilled in an avalanche, the others switch Persons their devices to receive and try the buried by the emitted signal to locate.

The Transmission signal is clocked at a frequency of about one hertz. The transmission time at the frequency of 457 kHz, the so-called duty cycle, is ten to 30 percent.

For the location by ear (or maximum / minimum field strength) generate conventional devices from the Transmit signal at 457 kHz by downmixing an audible sound at a frequency of about 2 kHz. Since the built-in antenna a pronounced Directional characteristic can, by turning the receiver and Find the volume maximum or Minimums the direction of the maximum field strength of the spilled transmitter be determined. This technique requires high searchers Concentration, exercise, and especially at longer distances low ambient noise.

Around the seeker without practice and to simplify the search in stress situations, devices with several developed at right angles to each other arranged antennas. By Switching between these antennas, the receiving direction of the Transmission signal can be determined. A corresponding device finds yourself in the AT 006 120 U2.

This In practice, this method has a number of disadvantages. On the one hand the antennas influence each other, even if they are switched off, so that the receiver sensitivity of the equipment overall suffers. In particular, a direction determination at big Distances over 50 meters almost impossible The direction indicator thus obtained so not useful. On the other hand This technique is very sensitive to interference, so the direction indicator heavily scattered under non-optimal conditions.

A special challenge for the seeker is present when he receives the signals of several victims at the same time receives. The location purely by ear requires here extraordinarily a lot of practice and a complicated one Search strategy.

The following employ more typefaces to find people.

The DE 298 13 823 U1 shows, as well as the AT 006 120 U2, a spilled search device in which the response of several differently arranged receiving antennas, the direction of the seeker is determined. The provision of multiple receiving antennas proves to be very expensive and impractical.

The DE 100 30 719 C2 describes an avalanche search bar or probe that facilitates search in the immediate vicinity of the victim due to a receiver mounted in the shaft of the probe.

The DE 195 26 494 C2 and document WO 99/06798 show devices which can be used inter alia for searching. However, the devices are based on GPS signals that are unsuitable for searching avalanche victims.

The DE 40 16 959 A1 describes a tracking system, especially for underground mining. In this case, emitted electromagnetic waves are received by a locating receiver and evaluated by location technology.

The DE 199 14 380 A1 describes a communication and search system for divers.

in view of of the prior art given by document AT 006 120 U2 It is an object of the present invention to provide an avalanche transceiver to set the position of at least one buried reliable Way automatically certainly.

These Task is carried out by an avalanche victim search engine with the Features of claim 1 and a method with the features of Claim 16 solved.

An essential idea of the invention is that a search device which achieves the above-mentioned object would ideally work like a radar and would constantly rotate the antenna by an angular range, for example 180 degrees. Because it is known at which angle the antenna is currently standing, at any time a received signal with the respective field strength at the current angle be assigned to the antenna. This is of course not feasible in practice. After all, but the rotation is achieved by 180 degrees in that the searching person holds the device while walking in the hand and swings to the left and right, a procedure as it is known in the application of search devices according to the prior art. The problem then is to determine what angle to an external reference coordinate system the device is at a given time.

in principle It is conceivable information about the current search angle by the evaluation of the signals from acceleration sensors or rotation sensors. In practice, initial value problems result and the constant gravitational acceleration here to large errors.

Also could information about the search angle under circumstances be obtained from the evaluation of the GPS signal. The stand the relatively high cost of a GPS receiver and - for rescue applications - in general insufficient availability sufficient GPS signals.

According to the invention Earth magnetic field as such, fixed and permanently available reference coordinate system used. This is the assignment of the received at any time Transmitter signal of a transmitter to a fixed search angle possible.

In a preferred embodiment of the search device according to the invention are the magnetic field sensor three sensor signals relating to the earth's magnetic field to the signal processing device. This can be the solid angle of the device relative to determine the field lines in which the field strength components of the Earth's magnetic field be measured in three mutually perpendicular axes.

Furthermore are magnetic field sensors with a precision of one degree cheaper as a GPS receiver, so that the search device according to the invention is cheaper can be made.

In In another embodiment inclination sensors are provided which Output sensor signals to the signal processing device, which the location of the search device represent on a horizontal plane. From the sensor signals The inclination sensors can be the sensor signals of the magnetic field sensor advantageously correct so that the relative position of the search device to the earth's magnetic field very accurate and independent can be determined by the horizontal position of the search device.

In further embodiments the search device according to the invention is the signal processing device is adapted to receive from the transmitter signals and to generate the sensor signals angle signals, the receiving field strength in dependence of represent a search angle. The application of signal processing mechanisms to the angle signals according to the invention allows in a particularly simple and reliable way the determination the sender location.

In a further embodiment, in particular the aforementioned embodiment is the signal processing device for calculating a transmitter search angle, in which the transmitter is located, formed on the basis of the angle signals. This can be done by the search device The location of the transmitter can be determined as the determination of the distance between the transmitter and the search device by conventional methods just possible is. A determination of the transmitter location by ear is therefore not required. Of the Tuning search angle can be determined after one or more panning of the search device according to the invention even if the device again pointing in a completely different direction.

In In a further embodiment of this embodiment, the signal processing device is designed to determine the transmitter search angle from at least two angle signals.

One Problem with transmitters to find buried is that the transmitter signal of the transmitter is clocked. In a random pivoting movement So it will be common happen that the transmitter is currently in a transmission break, though the search device in the direction of maximum or minimum field strength (during the times to which the transmitter is transmitting) is held. The sequence of angle signals, d. H. the function of the reception field strength above the search angle, therefore generally only in sections. It is therefore advantageous in the search device implemented an algorithm to extract from the intermediate values Extrapolate maximum and minimum. In principle, this is only Any two points in the field strength curve (i.e., two angle signals) required when the directivity the search antenna is known.

For this purpose, the images obtained (as described above for the search angle and subsequently for the field strength) (time -> search angle) and (time -> field strength) are transformed into an image (search angle -> field strength). In a particularly advantageous embodiment of the search device according to the invention, the extrapolation or interpolation of the complete course of the image (search angle -> field strength) is carried out by applying the method of least squares. This allows a constant improvement the estimated field strength profile over the search angle with further measured values.

In further embodiments the search device according to the invention is the output unit for the graphical output of result signals formed, which represent the transmitter search angle, and in particular a display field for graphical display of the transmitter location in the search area includes. This will be advantageous the fast and intuitive detection the transmitter location by the user allows.

In further embodiments of the search device according to the invention comprises the signal processing means a filter correlation unit, the is designed to angle signals by correlation of the transmitter signals (Received signal or reduced received signal) with given pattern or to detect filter signals. This will cause the detection weak transmitter signals of a transmitter allows, for example, at a great distance from the search device located. This corresponds to finding a signal with a known one Form in the noise. On the filter correlation unit can, for example, a be implemented so-called matched filter mechanism, wherein a cross-correlation between the searched and the received Signal performed becomes.

In Another embodiment of this embodiment is the filter correlation unit designed to make the angle signals with a sinusoidal and with a cosine Filter signal sequence to correlate. Especially with a cosinusoidal filter signal, d. H. if a cosine Transmitter signal is expected, the computational effort compared to a Matched filter procedures are significantly reduced when the transmitter signal is decomposed into a sine and a cosine component. In this Case is enough instead of the cross-correlation a simple multiplication with the sine and cosine component of the pattern or filter signal with followed by Amount and Moving Average Filtering.

In further embodiments the signal processing device of a search device according to the invention comprises a Autocorrelation unit that is designed to be stored in Signals by autocorrelation to detect periodic signal components. If the signals of multiple stations are received, the transmitter signals can the transmitter overlap each other and also mutually cancel. Because two devices always have slightly different repetition rates and / or duty cycles from each other, However, in principle is an assignment of the respective received signal to the one or the other transmitter possible. In the overlay Signals from several transmitters are the sum of several periodically on and off signals. Therefore, the suitable Autocorrelation function to the periodic components of this sum signal to recognize. For example, from the measured reception field strengths by Threshold decision a power on / off function are formed, their autocorrelation function spectral lines to the occurring Contains frequencies. Thus, a separation of the signals of multiple transmitters by providing an autocorrelation unit in the search device possible.

In Further refinements of the search device according to the invention is the autocorrelation unit of a Filter correlation unit downstream. This is what it is the structure of the search device particularly advantageous since first all detectable (possibly weak) transmitter signals are identified and then to simple Way these signals can be assigned to different transmitters.

In Further embodiments, the search antenna of the search device according to the invention comprises a Ferrite antenna, preferably with cosinusoidal directional characteristic. Ferrite Antenna are because of their pronounced Directional characteristic for transmitter location particularly suitable. A cosinusoidal directional characteristic allows For example, an embodiment of the filter correlation unit such specified above, wherein the angle signals with a sinusoidal and with a cosinusoid Filter signal sequence are correlated.

In Further embodiments of the invention, the search device comprises a Transmitter for transmitting transmitter signals, the transmitter signals preferably are individualized by a sender identification. This allows group functions be realized in which of a plurality of transmitters at least one is identifiable by its individualized identifier, for example, the group leader of a group of skiers.

at certain other embodiments The invention relates to the signal processing device for generating formed of processing signals corresponding to a transmitter search angle Assign a transmitter identifier, wherein a transmitter designed in such a way is that transmitter signals of this transmitter can be customized with respect to transmitter signals other channels are. As a result, the user of the search device according to the invention in advantageous simply the option to become one from a plurality of located transmitters in a highlighted manner allow.

• – zum Absuchen eines Suchgebietes wird ein Suchgerät durch einen Benutzer in einem Winkelbereich von Suchwinkeln geschwenkt, der das Suchgebiet überdeckt,
• – Sendersignale, die vom Sender ausgestrahlt werden, werden aus momentanen Suchrichtungen von einer Suchantenne des Suchgerätes empfangen,
• – Verarbeitungssignale werden aus den Sendersignalen erzeugt und
• – Ergebnissignale, welche die Verarbeitungssignale repräsentieren, werden an den Benutzer ausgegeben.

A method for locating a transmitter, in particular the transmitter of an avalanche victim, conventionally comprises the following steps on:

• To search a search area, a search device is swiveled by a user in an angular range of search angles which covers the search area,
• Transmitter signals emitted by the transmitter are received from current search directions by a search antenna of the search device,
• - Processing signals are generated from the transmitter signals and
• Result signals representing the processing signals are output to the user.

According to the invention is a further developed such a method in such a way that sensor signals, which relate to the earth's magnetic field, as a processing signal by result signals the users are displayed and each search direction a fixed search angle, relative to the earth's magnetic field, is assigned. This turns the Earth's magnetic field used as a fixed reference coordinate system, and it is to everyone Time the assignment of the measured transmitter signal of a transmitter a fixed search angle possible.

In preferred embodiments the method according to the invention be for the assignment of search direction and angle field strength components of the earth's magnetic field in three mutually perpendicular directions measured. This allows the solid angle of the device relative to the field lines be determined.

In further preferred embodiments of the inventive method become the slopes of the search engine Measured against the horizontal plane and the sensor signals accordingly corrected. Thus, advantageously, the compass direction can be determined exactly become.

In further embodiments the method according to the invention are angular signals, each with a reception field strength at specify a search angle, from the transmitter signals and the assignments generated by search direction and search angle. After generation of the angle signals is advantageous to the application of signal processing mechanisms these signals possible which in a particularly simple and reliable way the determination of the Sender location allowed.

In Further embodiments of the method according to the invention is a transmitter search angle, in which the transmitter is located, calculated on the basis of the angle signals and output a result signal representing the transmitter search angle. As a result, the location of the transmitter can be determined, since the determination the distance between transmitter and searcher by conventional Method easily possible is. A determination of the transmitter location by ear is therefore not required. The station search angle can after one or more panning the Inventive search device determined even if the device again pointing in a completely different direction.

In Another embodiment of the invention is the transmitter search angle from at least two, in particular at least three, angle signals determined. With clocked transmitter signals of a transmitter, it is often the case of a random pivoting movement Case that the transmitter is currently in a transmission pause, when the search device in the direction maximum or minimum field strength is held. The sequence of angle signals, d. H. the function of Receive field strength above the Search angle, therefore, will generally be available only in sections. Advantageously, therefore, the method according to the invention is configured, to extrapolate from the intervening values maximum and minimum. For this purpose, in principle, any two points of the field strength curve (i.e., two angle signals) is sufficient when the directivity the search antenna is known. For a robust approximation is the use of at least three Angle signals advantageous.

In Further embodiments of the aforementioned embodiments is an estimated angle signal sequence according to the least squares method from the angle signals calculated and the station search angle from the maximum of the estimated angle signal sequence is determined. From the present, section - wise consequences of the Angle signals can with the method of the least square error the determining parameters estimated over the entire course of the curve. This can be in simply the estimated angle signal sequence calculated as previously stated above.

In Further embodiments of this embodiment are used in the calculation the estimated angle signal sequence Angle signals differently weighted, in particular according to the time since receipt of the angular signals underlying transmitter signals has passed. Using least squares method can the estimate be constantly improved by using new readings. This results even at a great distance from the buried and according to weak transmitter signal quickly a relatively accurate Location estimation. To the leaves others by a corresponding weighting of older persons in relation to the current measured values or the angle signals determined therefrom a jumping or excessive instability of the calculated Tuning angle reliable suppress.

In further embodiments the method according to the invention are estimated transmitter signals by Correlation of transmitter signals determined with predetermined filter signals and angle signals from the estimated transmitter signals determined. Is a cross-correlation between the filter signals and performed the transmitter signals, the detection of weak transmitter signals of a transmitter is enabled, which, for example, in large Distance from the front of the search device this finding a signal of known shape in the noise corresponds.

In A further embodiment of this embodiment is used to determine the transmitter signal from noise interference by correlating received transmitter signals with a sinusoidal and with a cosinusoid Filter signal sequence in each case a sine and a cosine signal sequence determined. In principle, the above-mentioned cross-correlation can by means of a matched filter mechanism are performed. The disadvantage of Matched filters, however, require a lot of computation. This is because of that which represented by the filter signals Pattern function in all possible Phases are compared with the sequence of received transmitter signals got to. This computational effort can be significantly reduced if the sequence of transmitter signals into a sine and a cosine component is decomposed.

at In a further embodiment of this embodiment, reception field strengths of the Signals of the estimated transmitter signal sequence from the summation of the products of the (possibly previously mixed down) received signal sequence determined with a sine and a cosine signal sequence. The argument (Angle) of the above-mentioned Sine and cosine component complex number formed the phase position of the received signal in relation to the cosine pattern function, while the amount of the complex number is a measure of the reception field strength.

In preferred embodiments the method according to the invention For example, a periodic signal component is used to detect several transmitters of stored transmitter signals or processing signals, in particular Estimated transmitter signals determined by autocorrelation. If the signals of several victims are received, can the transmitter signals of the transmitters overlap each other and also mutually extinguish. Because two channels always slightly different from each other and / or duty cycles However, in principle, an assignment of the respective received signal to the one or the other transmitter possible. In the overlay Signals from several transmitters are the sum of several periodically on and off signals. Therefore, the suitable Autocorrelation function to the periodic components of this sum signal to recognize. For example, from the measured reception field strengths by Threshold decision a power on / off function are formed, their autocorrelation function spectral lines to the occurring Contains frequencies. Thus, a separation of the signals of several transmitters is possible. By Averaging the autocorrelation function over several observation periods may be dominant Periodic shares relatively independent of the respective orientation the sender to the receiver very reliable be determined.

In an embodiment of this embodiment is a detected periodic signal component, the transmitter can be assigned, from station signals or processing signals hidden to determine further periodic signal components. By Noise and inaccuracies often obscure the periodic contributions of weaker receive signals. In order to detect these components, it is advantageous if Signal components that can be assigned to a dominant received signal, hidden (set to zero).

In further embodiments the method according to the invention the transmitter signals of a transmitter to transmitter signals of other stations be individualized by a station identification and it will be processing signals generates, which assign a Sender search angle this Sender identifier. This allows Group functions are realized, in which a plurality of channels of at least one optional by its individualized Identification is identifiable, for example, the group leader one Group of skiers.

Further Aspects, advantages and expediencies The invention will become apparent from the following description of an embodiment the invention with reference to the attached Figures can be seen, of which shows:

1 an embodiment of a search device according to the invention;

2a . 2 B in each case a view of the display of the search device from the 1 ;

3 in schematic form a functional block diagram of the search device of 1 ,

In the figures are for same and like elements use the same reference numerals.

1 shows an embodiment of an inventively designed search device 1 for use as an avalanche victim search device (avalanche transceiver). Communication with the user takes place via an illuminated display 10 and two control buttons 12 . 13 , the display 10 allows the graphic display of the position of one or more victims relative to their own location. The search device 1 also has a loudspeaker 14 to output a synthetically generated search sound to the user as acoustic feedback as well as an LED 15 , as is known for conventional devices. The speaker 14 and the red LED 15 enable a conventional search even without using the graphic display via the display 10 ,

As in detail in 2a is the display of the display 10 divided into a coordinate field 16 to the true to scale representation of the location of the located transmitters of the buried, a status line 18 with the most important information and labeling fields 20 for the two control buttons 12 ,

The search device 1 is equipped as a combined search and transmit device with an outwardly invisible antenna for transmitting and searching at a search frequency of 457 kHz. The specified frequency is standardized for avalanche transceivers (EN 282). An automatic location of the buried is done from the natural pivoting movement of the seeker or user. According to the invention, however, no manual bearing is required as in conventional devices. In addition, the illustrated search device has 1 via a bearing mode to concentrate on a selected victim.

A search process is carried out in such a way that the searcher runs the search device 1 after switching from transmit to search mode, it will swing back and forth by about 180 degrees several times. The achievable DF or search accuracy is initially ± 10 degrees. When panning, all transmitter or transmitter signals of transmitters are detected by those who are in range. The range of the search device is approx. 80 m. The transmitters may be conventional avalanche transceivers or to the searcher 1 identical devices. A manual bearing, ie holding the search device 1 in the direction of the strongest signal is not required.

The detected stations 22 will be according to direction and distance on the display 10 displayed, with the scale representation of the distance of the transmitter 22 from the seeker (in the center of the coordinate field 16 ) by distances 24 specified in meters.

The seeker can now by requesting the victim, who should be found first, and pressing the control button 12 "PEILEN" focus on this and the other stations 22 hide. During the search process, distance information is displayed 24 and position information of the transmitter 22 constantly adapted to the current position of the searcher.

The target search in the near range is indicated by the red LED 15 supported.

is a spill Found and recovered, the seeker picks up the bearing and dedicates himself the next Shed.

The search device 1 has in the embodiment described here in addition to the search function on other functions via the with the control button 13 to be reached main menu are selectable. This includes an electronic compass, a temperature gauge and inclination measurement to assess the avalanche danger, an indication of the battery condition and a remaining time indicator for transmit and search operation. In other search devices according to the invention only a few or none of these additional functions are available. When the battery level is low, a warning is issued regardless of the operating mode. Furthermore, a short manual for the device and configuration displays as well as configuration settings for language and display lighting can be accessed via the main menu.

Thanks to the integrated sensors, which are described in more detail below, the search device can 1 determine at any time in which direction the searcher is currently holding it. Thus, the location of the located transmitters of the victims can be displayed correctly at any time relative to their own point of view.

From the in the 2a displayed display is intuitively clear that in the coordinate field 16 highlighted spills 26 at a distance of 30 meters exactly in the direction in which the search device 1 being held straight. The nearest buried victim - highlighted - can be found by pressing the control key 12 ("PEILEN") are selected for further search 2 B displayed, so that the information in the display 10 on the data of the targeted victim 26 reduced. The speaker 14 (see. 1 ) gives only in a distance-dependent manner the search sound of the targeted buried 26 again. The bearing can at any time by pressing the control button 13 ("ALL") A multiple search is possible for up to six burials simultaneously.

The technical realization in the search device 1 In principle, the received 457 kHz signals are digitized and processed with a powerful microprocessor. Algorithms of digital signal processing make it possible to search sounds, ie transmitter signals even then filter out of the noise, if they are already below the perceptibility limit of the human ear. This allows a range comparable to conventional, analogue devices.

Out The received signals are used to calculate the positions of the victims. The used algorithms are robust against single disturbances or Measurement error. There over the entire search phase the positions are constantly recalculated, improved the accuracy of the estimated Positions for the buried fast with time.

In 3 is schematically the functional structure of the search device 1 of the 1 shown. Next to the receiver 28 with search antenna and mixing level for the addictive sound are a sensor 30 for the earth's magnetic field, which outputs a sensor signal for each rotational degree of freedom (X, Y, vertical), as well as tilt sensors 32 available for the two tilt axes. In addition, another sensor 34 for one of the above-mentioned additional functions of the device, the temperature measurement.

The microprocessor-controlled sample manager 36 feeds the current sample to the correct destination and selects the channel for the next sample. The time response is designed such that the maximum possible sampling clock is essentially available for the sampling of the reception or transmitter signals. For the sampling of the sensor data, the received signal is faded out approximately every 32nd time slot and instead one of the sensor channels for temperature, magnetic field and inclination is read.

In the angle estimation module 38 will be from the samples of the sensor 30 for the magnetic field and inclination sensors 32 determines the spatial position to the Earth's magnetic field exactly. Such methods are known per se to those skilled in the art and are therefore not described further. By using the sensor 30 and the tilt sensor 32 According to the invention, each direction into which the search device 1 is held, with respect to the measured magnetic field vector μ assigned a fixed search angle φ.

The sin / cos correlator 40 is intended for the detection of transmitter signals at the sensitivity limit. Basically, the task is to be able to locate a victim in the longest possible distance. This corresponds to finding a signal of known form in noise.

The Finding such a search sound in the noise is - in the sense of a hypothesis test - optimal with a "Matched Filter "possible, where basically a cross-correlation between the wanted and the received Signal becomes.

The The matched filter has exactly the same impulse response along the time axis mirrored searched function. The profit of the matched filter is due to that Useful signal components are added constructively by the impulse response, while noise components add up in performance.

Of the Disadvantage of the matched filter is the very high computational effort. This one is stirring Therefore, that the pattern function in all possible phases with the Sequence of the receiver or transmitter signals must be compared.

From the transmitter signal sequence is known to be a cosinusoidal signal sequence with constant frequency. Any scaled and phase shifted Sinusoidal oscillation leaves decompose into a cosine and a sine part. The performance of the wanted signal is the sum of the powers of sinusoidal and cosine component. Therefore, that's enough it, the transmitter signal sequence with a cosine and a sinusoidal filter signal sequence multiply the sequence of transmitter signals into a sine wave and decompose a cosine component. The argument (angle) of describes complex number formed by sine and cosine component the phase position of the receiver or transmitter signal sequence in relation to Cosine pattern function while the amount of the complex number is a measure of the reception field strength.

In terms of system theory, the sin / cos correlator operating in this way produces 40 a demodulation of the search sound into the baseband (multiplication by sin or cos) and subsequent low-pass filtering to suppress the image frequencies at the double signal frequency. An essential advantage of the sin / cos correlator 40 This is because it can be simple and resource-friendly. Compared to a matched filter, the detection performance is 3 dB worse.

In the RSS module 42 are derived from the output values a (amplitude estimate of the sine component) and b (amplitude estimate of the cosine component) of the sin / cos correlator 40 through square averaging RSS ("Received Signal Strength") - values gained. The AKF module 44 then calculates the autocorrelation function (AKF) of the RSS values. The issue of the AKF module 44 serves as the basis for the separation of the signal components in the case of several simultaneously active transmitters.

The search for buried people is particularly difficult if at the same time the signals of several victims are received. The transmitter signals of the transmitters can be mutually exclusive overlay and also mutually extinguish. Since two devices always have slightly different repetition rates and / or duty cycles, however, an assignment of the respectively received signal to the one or the other transmitter is possible in principle.

at the overlay Signals from several transmitters are the sum of several periodically on and off signals. Basically suitable thus an autocorrelation function to the periodic shares to recognize this sum signal.

in the The simplest case is from the measured field strength values by thresholding an on / off function is formed, their autocorrelation function Spectral lines should contain at the frequencies occurring. The disadvantage of this method is that just at low field strengths or imperfect orientation of the receiving antenna to the transmitter the on / off times are determined only insufficiently accurate can. These inaccuracies make the spectral lines of the autocorrelation function smeared, i. out of focus, and quickly unusable.

As in the ideal on-off function, the information about the periodicity is of course also present in the analog field strength function. This is calculated as the magnitude of the output of the sin / cos correlator 40 ie as the output of the RSS module 42 won. By averaging the autocorrelation function over several observation periods, dominant periodic components can be determined very reliably, relatively independent of the respective orientation of the transmitter to the receiver.

By Noise and inaccuracies become the periodic components of weaker received signals often covered. In order to detect these components, signal components, which can be assigned to a dominant received signal, hidden (set to zero).

The assignment of individual signal sections to different transmitters is made by the heuristic segmentation in the segmentation module 46 performed. For this purpose, those signal elements which contribute to the maximum of the ACF are essentially determined by threshold value decision. If necessary, the signal elements determined in this way are separated again by analysis of jumps in the correlation values and assigned to different transmitters. For example, a signal element may be subdivided into two individual regions at the edges, starting from the left and right boundaries, and a central overlay region, which can not be used for the location estimation. For segmentation, jumps and discontinuities in the sin and cos correlation values can be used.

In the location estimation module 48 the location of the at least one received sender is determined. The distance of the transmitter can be reliably determined in a conventional manner by applying a power law to the measured or determined field strength. At the same time in the module 48 the assignment of the search angle φ obtained according to the invention from the sensor data to the processing signals resulting from the currently measured transmitter signals, which indicate the instantaneous reception field strength of a transmitter.

The one in the receiver 28 used ferrite receiving antenna has a cosinusoidal directional characteristic. With a fixed transmitter, the received field strength thus changes with the cosine of the double search angle. If the device is panned back and forth by the searcher during the search, ie if the angle is changed continuously, you can use the location estimation module 48 Consequently, the reception field strength σ can be formed in a simple manner as a function of the search angle φ.

For all angle signal elements a recording interval (from which exactly one AKF is calculated became), is by linkage with the search angles φ the Tuning angle and thus the location of the transmitter estimated. The Coordinates resulting from successive recording intervals for the same Sender can be determined be continuously improved by weighted averaging.

by virtue of the timing of the search sound, i. the received transmitter signal sequence, becomes the field strength function, d. H. the sequence of angular signals σ (φ), each having a reception field strength σ at a search angle generally only available in sections. From the present Sections can however, with the least squares method the dominant ones Parameters of the entire curve are estimated. Out of it can be easily calculate the angle and distance of the transmitter.

In a fault-free case, the entire field strength profile as a result of estimated angle signals could be calculated from the field strength profile of the received transmitter signal sequence. For calculation, two arbitrary points of the transmitter signal sequence were sufficient. In practice, however, the received signal is more or less noisy. The two points used for the approximation can then be randomly strongly corrupted by noise samples, so that the parameters of the actual angular signal sequence are strongly erroneously estimated. To one To achieve trouble-free estimation, all available points of the received field strength curve or the transmitter signal sequence should be included and the searched parameters optimized so that the total deviation of the calculated course of the estimated angle signal sequence from the portion of the sequence of the angular signals determined from the transmitter signals and search angles is minimal.

at Applying the least squares method can estimate through Using new readings constantly be further improved. For one, this also results in greater Distance from the victim and correspondingly weak search or receive signal quickly a relative exact location estimate. On the other hand can be by a corresponding weighting of older persons in relation to the current values of the measured search or determined angle signals a jump or excessive instability of the determined transmitter search angle reliable suppress.

In order to is enough Number of readings a reliable Determining the position of the transmitter possible. This is especially true even if the maximum itself can not be detected, there just at the times when the searching device in the direction the transmitter shows, this is in the Tastpausen. The data of the real received signal give indications of the necessary number Samples for a sufficiently accurate determination.

Also Task of estimating the location is the solution of the problem, from the field strength differences two or more consecutive recording intervals the 180 degree ambiguity the angle estimate dissolve and the transmitter of the front (in the direction of movement) or rear (opposite to the direction of movement) to assign half-plane.

Thus, the location of a victim, in particular the station search angle, even then fully and reliably calculable, if its transmitter at that time, to which the search device 1 the seeker points in his direction, is just in the transmission break. This is achieved with a search device designed according to the invention, which has only a single search antenna and therefore can be correspondingly lighter and cheaper (of course, the use of multiple antennas in a search device according to the invention is equally possible).

The determined location of a transmitter is then displayed on the display 10, as described above with reference to 1 . 2a and 2 B described.

The representation of the functions of the search device according to the invention described here by way of example is based on modules which are described in the 3 are drawn as separate units. These units may be in the search device in the form of software, firmware, and / or hardware. Preferably, the modules are in the form of software on a microprocessor / DSP. For a fully-equipped search device such as that illustrated by the figures, a processor with 30 MIPS computing power and 8 KB of working memory would be suitable.

numerous Modifications of the search device described here by way of example are conceivable. Thus, an inventive device without AKF module or module be designed to separate the signal components of several transmitters. Such a device is useful in situations where only one transmitter to locate is. An example of this represents a group of skiers on a secured piste, where the Locating the group leader by the search devices of the group members is made possible only the transmitter of the conductor is in transmission mode.

As well can a search device according to the invention without a module for the execution the cross-correlation of a filter signal with weak search or received signals be educated. Then weak signals are no longer in the noise detectable, the sensitivity of the search device is reduced accordingly. However, then the resources of the device (available space, processor processing capacity) are for others Functions available, For example, the AKF module may be formed to a larger number Separate transmitters. Also, a functionally poorer device at the same Battery capacity over one extended Have operating time, For example, if a smaller processor is used.

Instead of only as an avalanche victim search tool can one inventively designed detector also beneficial for other applications are used. As an example, let's say a group called by skiers who are guided by their group leader, For example, in poor visibility or otherwise confusing circumstances. All participants have transceivers. The Device of the Leiters has one Transmitter, whose transmitter signal with an individual transmitter identification is provided. The search devices the group members are to evaluate the received sender identification formed so that the located transmitter of the conductor among the plurality the located transmitter is identifiable. The display of the search devices of the participants identifies the location of the group leader by specifying the identifier. In a further development of this process, all stations are one Group can be individualized by transmitter identifications.

Although the transmission of Sendererkennun conditions over the standardized signal at 457 kHz not provided. However, in addition to the otherwise standard-compliant transmitter in a transmitter, a second transmitter may be provided which emits the signals with transmitter identifiers.

Furthermore are within the scope of the invention, exclusively by the following claims is specified by expert Act many more embodiments conceivable.

1

detector

10

display

12 13

Control buttons

14

speaker

15

LED

16

coordinate field

18

status bar

20

labeling field for control buttons

22

Sender (symbolically in the coordinate field 16 shown)

24

Distance information in the coordinate field 16

26

highlighted illustrated located transmitter

28

Receiver with search antenna

30

sensor for the Earth's magnetic field

32

inclinometers

34

temperature sensor

36

Sample Manager

38

Angle estimation module

40

Sin / cos correlator

42

RSS module

44

AKF module

46

segmentation module for the heuristic segmentation

48

Location estimation module

a

Amplitude estimate of cosine

b

Amplitude estimate of sinusoidal component

r

reception or transmitter signal

R

output of the RSS module

μ

magnetic field vector

φ

search angle

σ

identified Reception field strength a transmitter

Claims (30)

Avalanche burial search device for locating a transmitter, wherein for searching a search area, the search device ( 1 ) is pivotable in an angular range of search angles which covers the search area, with - a search antenna ( 28 ) with a directional characteristic for the reception of transmitter signals of the transmitter ( 22 . 24 ) from a current search direction, - a magnetic field sensor ( 30 ), - a signal processing device for generating processing signals from the transmitter signals and - an output unit ( 10 . 14 . 15 ), to which the processing signals are supplied, for outputting result signals, which represent the processing signals, to the user, characterized in that the magnetic field sensor ( 30 ) the earth magnetic field related sensor signals to the signal processing device ( 36 - 48 ) outputs the sensor signals as a processing signal of the output unit ( 10 ) and each received transmitter signal a fixed search angle (φ) relative to the earth's magnetic field (μ), is assigned. Avalanche spill detector according to claim 1, characterized in that the magnetic field sensor ( 30 ) three sensor signals relating to the earth's magnetic field to the signal processing device ( 36 - 40 ). Avalanche spill detector according to claim 1 or 2, characterized in that tilt sensors ( 32 ) are provided, the sensor signals to the signal processing device ( 36 - 40 ), which indicate the position of the search device ( 1 ) in relation to a horizontal plane. An avalanche victim search device according to one of the preceding claims, characterized in that the signal processing device ( 48 ) is adapted to generate from the transmitter signals and the sensor signals angle signals representing a reception field strength in dependence on a search angle (φ). An avalanche victim search device according to claim 4, characterized in that the signal processing device ( 48 ) for calculating a transmitter search angle, in which the transmitter is located, based on the angle signals is formed. An avalanche victim search device according to claim 5, characterized in that the signal processing device ( 48 ) is designed to determine the transmitter search angle from at least two angle signals. Avalanche spill detector according to claim 5 or 6, characterized in that the output unit ( 10 ) is configured for the graphical output of result signals representing the transmitter search angle, and a display field ( 10 ) for graphic display ( 16 ) of the transmitter location ( 22 ) in the search area. An avalanche victim search device according to any one of the preceding claims, characterized in that the signal processing means comprises a filter correlation unit ( 40 ) configured to detect angle signals by correlating the transmitter signals with predetermined filter signals. An avalanche victim search device according to one of the preceding claims, characterized in that the filter correlation unit ( 40 ) is adapted to correlate the transmitter signals with a sinusoidal and with a cosinusoidal filter signal sequence. An avalanche victim search device according to any one of the preceding claims, characterized in that the signal processing means comprises an autocorrelation unit ( 44 ), which is designed to detect periodic signal components in stored signals by autocorrelation. An avalanche victim search device according to claim 10, characterized in that the autocorrelation unit ( 44 ) a filter correlation unit ( 40 ) is connected downstream. Avalanche spill detector according to any one of the preceding claims, characterized in that the search antenna ( 28 ) comprises a ferrite antenna. Avalanche spill detector according to any one of the preceding claims, characterized in that the search antenna ( 28 ) is formed such that it has a cosinusoidal directional characteristic. Avalanche spill detector for one of the preceding claims, characterized by a transmitter for transmitting transmitter signals, wherein the transmitter signals are individualized by a transmitter identifier are. Avalanche spill detector for one of the preceding claims, characterized in that the signal processing means is designed to generate processing signals that a Station search angle assign a station identifier, a transmitter such is formed that transmitter signals of this transmitter customizable across from Transmitter signals of other stations are. Method for locating a transmitter ( 22 . 24 ) of a person buried in an avalanche, - in which a search device (to search a search area) ( 1 ) is panned by a user in an angular range of search angles that covers the search area, - Transmitter signals of the transmitter ( 22 . 24 ) from a current search direction from a search antenna ( 28 ) of the search device ( 1 ), the search antenna having a directional characteristic, processing signals being generated from the transmitter signals, and outputting result signals representing the processing signals to the user, characterized in that sensor signals related to the earth's magnetic field are applied to the users as processing signals by result signals are displayed and each search direction a fixed search angle (φ), relative to the Earth's magnetic field (μ), is assigned. Method according to claim 16, characterized in that that for the assignment of search direction and angle field strength components (μ) of the Earth's magnetic field be measured in three mutually perpendicular directions (X, Y, vertical). Method according to claim 16 or 17, characterized in that the inclinations of the search device are measured against the horizontal plane ( 32 ) and the sensor signals are corrected accordingly (38). Method according to one of Claims 16 to 18, characterized that angle signals, each having a reception field strength (σ) at a Search angle (φ) indicate from the transmitter signals (r) and the assignments of search direction and angles are generated. A method according to claim 19, characterized in that a transmitter search angle, in which the transmitter is located, calculated on the basis of the angle signals and a result signal is output ( 10 . 16 ) representing the station search angle ( 22 ). Method according to claim 20, characterized in that the transmitter search angle is determined from at least two angle signals becomes. Method according to one of claims 20 or 21, characterized that an estimated angle signal sequence according to the least squares method from the angle signals calculated and the station search angle from the maximum of the estimated angle signal sequence is determined. Method according to claim 22, characterized in that that in the calculation of the estimated angle signal sequence Angle signals are weighted differently. Method according to one of claims 22 or 23, characterized that in the calculation of the estimated angular sequence Angle signals according to the time be weighted. Method according to one of Claims 16 to 24, characterized in that estimation transmitter signals ( 40a . 40b ) are determined by correlation of transmitter signals (r) with predetermined filter signals and angle signals are determined from the estimated transmitter signals. Method according to claim 25, characterized in that that for determining the transmitter signal from noise interference by Correlation of received transmitter signals (r) with a sinusoidal and with a cosine Filter signal sequence in each case a sine and a cosine signal sequence (a, b) is determined. Method according to claim 26, characterized in that that reception field strengths the signals of the estimated transmitter signal sequence from the summation of the products of the received transmitter signal sequence with a sine and a cosine signal sequence (a and b) are determined. Method according to one of Claims 16 to 27, characterized in that, for the detection of a plurality of transmitters, a periodic signal component of stored transmitter signals or processing signals is determined by autocorrelation ( 44 ). Method according to Claim 28, characterized in that a determined periodic signal component (σ) assigned to a transmitter can be hidden from transmitter signals or processing signals is used to determine further periodic signal components. Method according to one of the preceding claims, characterized characterized in that the transmitter signals of a transmitter with respect to transmitter signals further transmitter can be individualized by a transmitter identification and processing signals are generated corresponding to a transmitter search angle assign this sender identification.